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control_allocator: add fixed-wing actuator effectiveness

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This commit is contained in:
Beat Küng
2021-11-29 13:59:54 +01:00
committed by Daniel Agar
parent 4d2a403afa
commit 8d9e2a28c4
6 changed files with 171 additions and 0 deletions
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src/modules/control_allocator/module.yaml
+27
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@@ -20,6 +20,7 @@ parameters:
2: Tiltrotor VTOL (WIP)
3: Rover (Ackermann)
4: Rover (Differential)
5: Fixed Wing
default: 0
CA_METHOD:
@@ -492,5 +493,31 @@ mixer:
- name: 'Right Motor'
position: [ 0, 1., 0 ]
5: # Fixed Wing
actuators:
- actuator_type: 'motor'
group_label: 'Motors'
count: 'CA_ROTOR_COUNT'
per_item_parameters:
standard:
position: [ 'CA_ROTOR${i}_PX', 'CA_ROTOR${i}_PY', 'CA_ROTOR${i}_PZ' ]
- actuator_type: 'servo'
group_label: 'Control Surfaces'
count: 'CA_SV_CS_COUNT'
per_item_parameters:
extra:
- name: 'CA_SV_CS${i}_TYPE'
label: 'Type'
function: 'type'
identifier: 'servo-type'
- name: 'CA_SV_CS${i}_TRQ_R'
label: 'Roll Torque'
identifier: 'servo-torque-roll'
- name: 'CA_SV_CS${i}_TRQ_P'
label: 'Pitch Torque'
identifier: 'servo-torque-pitch'
- name: 'CA_SV_CS${i}_TRQ_Y'
label: 'Yaw Torque'
identifier: 'servo-torque-yaw'